Multi-Axis Coordinated Motion Instructions
406 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
This information applies to the Compact GuardLogix 5380, CompactLogix 5380,
CompactLogix 5480, ControlLogix 5580, and GuardLogix 5580 controllers.
Use the MCTPO instruction to calculate the position of a point in one
coordinate system to the equivalent point in a second coordinate system.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MCTPO(CartesianSystem, RobotSystem, MotionControl, WorkFrame,
ToolFrame, Direction, ReferencePosition, TransformPosition,
RobotConfiguration, TurnsCounter);
Operands
Important:
Do not use the same tag name for more than one instruction in the same
program. Do not write to any instruction output tag under any
circumstances.
ATTENTION: If instruction operands are changed while in Run mode, the pending edits
must be accepted and the controller mode cycled from Program to Run for the changes
to take effect.
Motion Calculate Transform
Position with Orientation
(MCTPO)
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